function [dg_a,do_a,sig_a,sio_a]=jac_obt(aIN,Fnk_pre,S_pre,Outputs_pre,aph,b,car_angle_pre,xd,yd,x,y,v,w,xo,yo)
    %aIN：权重；Fnk_pre：k-1时刻各隶属值计算得到的16条规则的程度RFNN第三层；S_pre：k-1时刻的四个输入量；Output_pre：k-1时刻RFNN第四层的值；
    %aph：第五层的aph值；b：车轮间的距离；car_angle_pre：k-1时刻的机器人角度方向；xd：终点的x值；yd：终点的y值；
    %x：k时刻机器人实际观测x值；y：k时刻机器人实际观测y值；v：k-1时刻线速度v；w：k-1时刻角速度w；xo：障碍物x值；yo：障碍物y值
    number_a=size(aIN);%权重数量，一般1*32
    Fnk2=[Fnk_pre,Fnk_pre];
    % 初始化静态变量
    persistent dx_a;
    if isempty(dx_a)
            dx_a=zeros(1,32);
    end
    persistent dy_a;
    if isempty(dy_a)
        dy_a=zeros(1,32);
    end
    persistent dsig_a;
    if isempty(dsig_a)
            dsig_a=zeros(1,32);
    end
%     number_Fnk=size(Fnk);%规则数量
%     S=dg+do+sig+sio;
    S=S_pre;
    %
    dgk_a_g=[];
    dok_a_g=[];
    sigk_a_g=[];
    siok_a_g=[];
    for i=1:number_a(2)
        Fnk_i=Fnk2(i);
        if(i<=16)
            Outputs_i=Outputs_pre(1);
        else
            Outputs_i=Outputs_pre(2);
        end
        deV=(Fnk_i*S)/(2*(1+aph*Outputs_i)^2);%v对于a的偏导数
        if(i<=16)
            deW=(Fnk_i*S)/(2*b*(1+aph*Outputs_i)^2);%w对于a的偏导数
        else
            deW=-(Fnk_i*S)/(2*b*(1+aph*Outputs_i)^2);%w对于a的偏导数
        end
        dx_a(i)=dx_a(i)+cos(car_angle_pre)*deV-v*sin(car_angle_pre)*dsig_a(i);
        dy_a(i)=dy_a(i)+sin(car_angle_pre)*deW+w*cos(car_angle_pre)*dsig_a(i);
        dsig_a(i)=dsig_a(i)+deW;
        %
        dgk=norm(x-xd,y-yd);
        dgk_a=((x-xd)*dx_a(i)+(y-yd)*dy_a(i))/dgk;
%         dgk_a=((xd-x)*dx_a(i)+(yd-y)*dy_a(i))/dgk;
        dok=norm(x-xo,y-yo);
        dok_a=((x-xo)*dx_a(i)+(y-yo)*dy_a(i))/dok;
%         dok_a=-((xo-x)*dx_a(i)+(yo-y)*dy_a(i))/dok;
%         sigk_a=(xd-x)/(power(xd-x,2)+power(yd-y,2))*dy_a(i)-(yd-y)/(power(xd-x,2)+power(yd-y,2))*dx_a(i)-dsig_a(i);
        sigk_a=(x-xd)/(power(x-xd,2)+power(y-yd,2))*dy_a(i)-(y-yd)/(power(x-xd,2)+power(y-yd,2))*dx_a(i)-dsig_a(i);
%         siok_a=-(xo-x)/(power(xo-x,2)+power(yo-y,2))*dy_a(i)+(yo-y)/(power(xo-x,2)+power(yo-y,2))*dx_a(i)-dsig_a(i);
        siok_a=(x-xo)/(power(x-xo,2)+power(y-yo,2))*dy_a(i)-(y-yo)/(power(x-xo,2)+power(y-yo,2))*dx_a(i)-dsig_a(i);
        %
        dgk_a_g=[dgk_a_g,dgk_a];
        dok_a_g=[dok_a_g,dok_a];
        sigk_a_g=[sigk_a_g,sigk_a];
        siok_a_g=[siok_a_g,siok_a];
    end
    dg_a=dgk_a_g;
    do_a=dok_a_g;
    sig_a=sigk_a_g;
    sio_a=siok_a_g;
end